Process and device for stabilizing a vehicle depending on the speed of the vehicle

• US 6,253,123 B1
• Filed: 05/18/2000
• Issued: 06/26/2001
• Est. Priority Date: 06/23/1998
• Status: Expired due to Term

• Current Assignee: Robert Bosch GmbH
• Original Assignee: Robert Bosch GmbH
• Inventors: Faye, Ian, Schramm, Herbert
• Primary Examiner(s): Cuchlinski, Jr., William A.
• Assistant Examiner(s): ARTHUR JEANGLAUDE, GERTRUDE
• Application Number:
  US09/486,145
• Time in Patent Office: 404 Days
• Field of Search: 701/1, 701/70, 701/78, 701/72, 701/79, 701/84, 701/93, 180/170, 180/171, 180/197, 303/124, 303/147, 303/155, 303/166, 303/167
• US Class Current: 701/1
• CPC Class Codes: B60G 2300/36 Independent Multi-axle long vehicles
• CPC Class Codes: B60G 2400/0523 Yaw rate
• CPC Class Codes: B60G 2400/104 lateral or transversal with regard to vehicle
• CPC Class Codes: B60G 2400/208 of wheel rotation
• CPC Class Codes: B60G 2400/39 Brake pedal position
• CPC Class Codes: B60G 2400/41 Steering angle
• CPC Class Codes: B60G 2400/60 Load
• CPC Class Codes: B60G 2400/822 Road friction coefficient determination affecting wheel traction
• CPC Class Codes: B60G 2600/02 Retarders, delaying means, dead zones, threshold values, cut-off frequency, timer interruption
• CPC Class Codes: B60G 2800/012 Rolling condition
• CPC Class Codes: B60G 2800/70 Estimating or calculating vehicle parameters or state variables
• CPC Class Codes: B60G 2800/92 ABS - Brake Control
• CPC Class Codes: B60G 2800/93 Skid or slide control [ASR]
• CPC Class Codes: B60G 2800/97 Engine Management System [EMS]
• CPC Class Codes: B60T 2230/03 Overturn, rollover
• CPC Class Codes: B60T 8/17554 specially adapted for enhancing stability around the vehicles longitudinal axle, i.e. roll-over prevention road vehicle drive control systems for roll-over prevention otherwise than by controlling a particular sub-unit B60W30/04
• CPC Class Codes: B60T 8/243 for roll-over protection
• CPC Class Codes: B60T 8/246 Change of direction

Abstract

A method for stabilizing a vehicle that avoids one of a vehicle rolling over with respect to a vehicle axis oriented in the longitudinal direction of the vehicle, and the vehicle skidding in a transverse direction. The method determines a vehicle speed and at least two limit values for the vehicle speed, and selects one of the limit values as a reference quantity. In particular, the limit value with the smaller value may be selected as the reference quantity. The method also compares a speed quantity and the reference quantity, and implements measures to stabilize the vehicle based on the comparison. In particular, if the speed quantity is greater than the reference quantity, then the vehicle speed is reduced by intervening in at least one of a retarder operation, an engine operation and a braking operation until the speed quantity is reduced below the reference quantity.

Claims

1. A method for stabilizing a vehicle, the method comprising the steps of:

determining a speed quantity corresponding to a vehicle speed;

determining at least two limit values for the vehicle speed;

selecting a smaller one of the at least two limit values as the reference quantity;

comparing the speed quantity and the reference quantity and providing a comparison result; and

if the speed quantity is greater than the reference quantity, intervening to avoid at least one of the vehicle rolling over about a vehicle axis oriented in a longitudinal direction of the vehicle and the vehicle skidding in a transverse direction by intervening in at least one of a retarder operation, an engine operation, and a braking operation to reduce the vehicle speed until the speed quantity is no greater than the reference quantity.

2. The method of claim 1, wherein the at least two limit values include at least one of a first limit value corresponding to a vehicle rollover risk and a second limit value corresponding to a vehicle skidding risk.

3. The method of claim 1, further comprising one of the steps of:

(a) determining at least one friction quantity corresponding to friction conditions between at least one vehicle tire and a road surface, wherein at least one of the at least two limit values is determined based on the at least one friction quantity; and

(b) determining a first friction quantity corresponding to a current coefficient of friction and a second friction quantity corresponding to a difference between coefficients of friction of each side of the vehicle, wherein at least one of the at least two limit values is determined based a smaller one of the first friction quantity and the second friction quantity.

4. The method of claim 1, further comprising one of the steps of:

(a) determining a torsion quantity corresponding to a vehicle behavior that occurs in reaction to one of a force and a transverse force acting on the vehicle with respect to the vehicle axis, wherein at least one of the at least two limit values is determined based on the torsion quantity; and

(b) determining a torsion quantity corresponding to a vehicle behavior that occurs in reaction to one of a force and a transverse force acting on the vehicle with respect to the vehicle axis, wherein at least one of the at least two limit values is determined based on the torsion quantity and the torsion quantity is determined based on a mass quantity corresponding to a vehicle mass;

wherein the vehicle behavior corresponds to the vehicle being at least one of turned, twisted and displaced about the vehicle axis.

5. The method of claim 1, further comprising at least one of the steps of:

(a) determining a first height quantity corresponding to a distance between a center of gravity of the vehicle and a road surface, wherein the first height quantity is determined based on a wheel rotational rate;

(b) determining a second height quantity corresponding to another distance between the road surface and the vehicle axis about which the vehicle is one of twisted, displaced and deflected in reaction to one of the force and the transverse force acting on the vehicle; and

(c) determining the second height quantity corresponding to another distance between the road surface and the vehicle axis about which the vehicle is one of twisted, displaced and deflected in reaction to one of the force and the transverse force acting on the vehicle, wherein the second height quantity is determined based on a mass quantity corresponding to the vehicle mass;

wherein at least one of the at least two limit values is determined based on at least one of the first height quantity and the second height quantity.

6. The method of claim 1, further comprising the step of determining a mass quantity, which corresponds to a vehicle mass, based on a force quantity corresponding to a driving force acting on the vehicle and a rate quantity corresponding to at least one wheel rotational rate, wherein at least one of the at least two limit values is determined based on the mass quantity.

7. The method of claim 1, further comprising the step of determining a load displacement quantity corresponding to a load behavior of a load of the vehicle that occurs in reaction to one of the force and the transverse force acting on the vehicle, wherein at least one of the at least two limit values is determined based on the load displacement quantity and the load behavior corresponds to the load being at least one of moved, shifted and displaced.

8. The method of claim 7, further comprising at least one of the steps of:

(a) determining a mass quantity; and

(b) determining a volume of the load based on one of the mass quantity and a quantity corresponding to a form of a vehicle load device, wherein if the load is a fluid load, then the volume is determined during one of a loading and unloading of the vehicle load device;

wherein the load-shift quantity is determined based on at least one of the mass quantity and the volume.

9. The method of claim 1, further comprising one of the steps of:

(a) determining at least one of the at least two limit values based on a path quantity corresponding to a radius of a current path of the vehicle; and

(b) determining at least one of the at least two limit values based on the path quantity, wherein the path quantity is determined based on the speed quantity and a steering angle quantity corresponding to a steering angle of the vehicle.

10. A device for stabilizing a vehicle, comprising:

means for determining a speed quantity corresponding to a vehicle speed;

means for determining at least two limit values for the vehicle speed;

means for selecting a smaller one of the at least two limit values as the reference quantity;

means for comparing the speed quantity and the reference quantity and providing a comparison result; and

means for intervening, if the speed quantity is greater than the reference quantity, to avoid at least one of the vehicle rolling over about a vehicle axis oriented in a longitudinal direction of the vehicle and the vehicle skidding in a transverse direction by intervening in at least one of a retarder operation, an engine operation, and a braking operation to reduce the vehicle speed until the speed quantity is no greater than the reference quantity.